joylink/rt-sim-training-service
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修改大铁列车提速后停不准的问题

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joylink_zhangsai 2023-02-08 15:10:54 +08:00
parent b13b2e6cbb
commit a33c94a477
2 changed files with 2 additions and 9 deletions
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4
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATO/SpeedCurve.java
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@ -292,8 +292,8 @@ public class SpeedCurve {
if (needLimitSpeed != null && needLimitSpeed * 0.9f < limitSpeed) { //新的限速更小 if (needLimitSpeed != null && needLimitSpeed * 0.9f < limitSpeed) { //新的限速更小
endPosition = new SectionPosition(base, logic.getEndOffsetByDirection(!right)); //限速起始点 endPosition = new SectionPosition(base, logic.getEndOffsetByDirection(!right)); //限速起始点
distance = CalculateService.calculateDistance(headPosition, endPosition, right, false); distance = CalculateService.calculateDistance(headPosition, endPosition, right, false);
if (distance != null && (distance > 500 || distance > totalLen)) //限速点在车头前方；限速点距车头不超过500m（过早考虑限速没有意义） // if (distance != null && (distance > 500 || distance > totalLen)) //限速点在车头前方；限速点距车头不超过500m（过早考虑限速没有意义）
break; // break; 由于大铁列车车速快很多，接近到500m才考虑限速就来不及了，故删除此逻辑
if (distance != null && distance > 0) { if (distance != null && distance > 0) {
//取最靠下的速度曲线 //取最靠下的速度曲线
SpeedCurve limitSpeedCurve = buildTargetSpeedCurve(distance, v0, needLimitSpeed * 0.9f, limitSpeed); //到达新限速点的速度曲线 SpeedCurve limitSpeedCurve = buildTargetSpeedCurve(distance, v0, needLimitSpeed * 0.9f, limitSpeed); //到达新限速点的速度曲线

7
src/main/java/club/joylink/rtss/simulation/cbtc/robot/SimulationRobotService.java
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@ -177,13 +177,6 @@ public class SimulationRobotService {
} else if (train.isRobotNeedRun() && (train.isRMMode() || train.isNRMMode())) { //CM应当根据推荐速度驾驶，待实现 } else if (train.isRobotNeedRun() && (train.isRMMode() || train.isNRMMode())) { //CM应当根据推荐速度驾驶，待实现
newRobotDrive(simulation, driver, train); newRobotDrive(simulation, driver, train);
} }
// //机器人驾驶
// if (driver.getCommand() != null || train.getRobotTargetPosition() != null) { //如果有和驾驶行为不冲突的指令，这里需要做修改
// robotDriveByCommand(simulation, driver, train);
// } else if (train.isRobotDriveForward()) {
// //地铁的自动驾驶暂时也用大铁的逻辑。因为地铁线路没有行车日志，所以效果等同于只看信号
// railRobotDrive(simulation, train);
// }
} }
} }